Optimal Trajectory Planning for Spherical Robot Using Evolutionary Algorithms
Dikra El Haiek, Badreddine Aboulissane, Larbi El Bakkali, Jalal El Bahaoui · Procedia Manufacturing · 2019
The trajectory planning problem of robot is addressed in this paper, which is consist of finding an optimal trajectory for a given path from an initial and final positions in the operating space. We aim to determine the optimal trajectory for three degrees of freedom spherical wrist with concurrent axis by using genetic algorithm. The optimized trajectory must have a minimum trajectory time and minimum joint traveling distance with free path collision in the workspace. In order to move from the initial point to the final point, we propose the use of polynomial interpolation, the optimization technique allow to determine the coefficients of the optimal trajectory. The simulation results for a three degrees of freedom robots are presented and discussed.